Method, apparatus, program product, and vehicle providing single-pedal mode in a vehicle

Abstract

The application provides a method, device, program product and vehicle for providing a single-pedal mode, wherein a plurality of single-pedal control modes are preset in the vehicle, and in different control modes, the change of the opening degree of the accelerator pedal has different corresponding relationships with the change of the torque of the vehicle. The method comprises: determining the driving habit of the user in the single-pedal mode, including: the speed of the accelerator pedal being stepped down during the starting process; the speed of the accelerator pedal being released during the deceleration process; and the number of times of the brake pedal being intervened in a predetermined number of driving cycles; selecting a corresponding single-pedal control mode from the plurality of single-pedal control modes according to the corresponding relationship between the predetermined driving habit and the single-pedal control mode, and prompting and / or recommending the user. By using the above technical scheme, the user can be provided with a suitable single-pedal control mode according to the driving habit of the user, so as to improve the energy recovery efficiency while ensuring the driving safety.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method, apparatus, program product, and vehicle for providing a one-pedal mode in a vehicle. Background Technology

[0002] As new energy vehicles, such as electric vehicles, become increasingly common in households, energy recovery is a crucial function. The efficiency of regenerative braking is a key performance indicator for new energy vehicles. To improve energy recovery efficiency and extend the driving range of electric vehicles, one-pedal driving has emerged.

[0003] One-pedal driving is a concept for vehicle speed control where the vehicle can be actively accelerated and decelerated using only one pedal. The corresponding driving mode is called one-pedal driving mode. In one-pedal driving, pressing the accelerator pedal generates an acceleration request to the vehicle; releasing the pedal from its fully or partially depressed position generates a deceleration request. Generally, the greater the pedal release, the more pronounced the deceleration effect.

[0004] In one-pedal driving mode, when the driver releases the accelerator pedal, the vehicle's inertia causes the electric motor to reverse, switching it from a driving state to a generating state. This converts the vehicle's kinetic energy into electrical energy, which is then recovered into the battery, thus achieving kinetic energy recovery. This kinetic energy recovery process generates some resistance, causing the vehicle to slow down.

[0005] One-pedal driving uses only the drive pedal to seamlessly switch between acceleration and braking needs, improving the efficiency of energy recovery during vehicle operation. However, one-pedal mode changes driving habits, and sometimes braking and acceleration requests may be misoperated, which can easily lead to safety accidents. Summary of the Invention

[0006] Embodiments of the present invention provide a method, apparatus, program product, and vehicle for providing a one-pedal mode in a vehicle, so as to provide a suitable one-pedal control mode to the user according to the user's driving habits and improve energy recovery efficiency while ensuring driving safety.

[0007] To achieve the above objectives, on the one hand, a method for providing a one-pedal mode in a vehicle is provided. Multiple one-pedal control modes for the one-pedal mode are pre-set in the vehicle. Under different one-pedal control modes, the change in accelerator pedal opening degree has different correspondences with the change in vehicle torque. The change in accelerator pedal opening degree includes: changes in the size of the opening degree and / or the rate of change of the opening degree; the change in vehicle torque includes: the time point of torque positive / negative switching and / or the rate of change of torque. The method includes:

[0008] Determine the user's driving habits in one-pedal mode, including: during the start-up process, the speed at which the accelerator pedal is pressed when the vehicle starts from a standstill; during the deceleration process, the speed at which the accelerator pedal is released; and the number of times the brake pedal is engaged in a predetermined number of driving cycles.

[0009] Based on the pre-defined correspondence between user driving habits and suitable one-pedal control modes, the system selects a suitable one-pedal control mode from the various one-pedal control modes and provides prompts and / or recommendations to the user.

[0010] Preferably, in the method, the multiple single-pedal control modes include:

[0011] In a single-pedal control mode where the brake pedal is engaged for combined braking during deceleration and stopping; and

[0012] A single-pedal control mode that eliminates the need for the brake pedal to engage in combined braking when decelerating to a stop.

[0013] Preferably, in the method, the multiple single-pedal control modes include a first control mode, and the control process under the first control mode includes:

[0014] During the start-up process, the rate of change of the accelerator pedal being pressed is less than a predetermined first rate of change of the pedal. When the opening of the accelerator pedal is less than a preset first threshold, the torque is negative.

[0015] During acceleration, once the accelerator pedal opening exceeds the first threshold, the torque switches from negative to positive, where the first threshold is a positive number.

[0016] During deceleration, when the accelerator pedal is released, the torque decreases according to a predetermined first torque change rate, and when the opening of the accelerator pedal is reduced to less than a first threshold, the torque switches from positive torque to negative torque.

[0017] Preferably, in the method, the multiple single-pedal control modes further include a second control mode and / or a third control mode, wherein:

[0018] The control process in the second control mode includes:

[0019] During the start-up process, the rate of change of the accelerator pedal being pressed is less than the rate of change of the first pedal being pressed. When the opening of the accelerator pedal is less than a preset second threshold, the torque is negative.

[0020] During acceleration, when the accelerator pedal opening exceeds a preset second threshold, the torque switches from negative torque to positive torque, and the second threshold is greater than the first threshold.

[0021] During deceleration, when the accelerator pedal is released, the torque decreases according to a predetermined second torque change rate, and when the opening of the accelerator pedal is reduced to less than a second threshold, the torque changes from positive torque to negative torque.

[0022] The control process under the third control mode includes:

[0023] During the start-up process, the rate of change of the accelerator pedal being pressed is less than the rate of change of the first pedal. When the opening of the accelerator pedal is less than a preset first threshold, the torque is negative.

[0024] During acceleration, when the accelerator pedal opening exceeds the first threshold, the torque switches from negative torque to positive torque.

[0025] During deceleration, when the accelerator pedal is released, the torque decreases according to a predetermined third torque change rate, which is greater than the first torque change rate and the second torque change rate. When the accelerator pedal opening decreases to a predetermined third threshold, the torque switches from positive torque to negative torque; the third threshold is greater than the first threshold and the second threshold.

[0026] If an acceleration request occurs during deceleration, the torque switches to positive torque; specifically, an acceleration request is confirmed when the accelerator pedal opening increases.

[0027] Preferably, in the method, wherein,

[0028] In the second control mode, the second threshold is set such that at least 1 / 3 of the accelerator pedal travel is a negative torque travel; and / or,

[0029] In the third control mode, the third torque change rate and the third threshold are set such that at least half of the accelerator pedal travel is a negative torque travel.

[0030] Preferably, in the method, wherein:

[0031] When a user's driving habits in single-pedal mode are as follows: the rate of change of the accelerator pedal being pressed during start-up is less than the predetermined rate of change of the second pedal; the rate of release of the accelerator pedal during deceleration is less than the predetermined rate of change of the third pedal; and the number of times the brake pedal is engaged is greater than the predetermined first number in a predetermined number of driving cycles, the user is determined to be suitable for the first control mode.

[0032] When a user's driving habits in single-pedal mode are as follows: the rate of change of the accelerator pedal being pressed during start-up is less than the rate of change of the second pedal; the rate of release of the accelerator pedal during deceleration is less than the predetermined rate of change of the third pedal; and in a predetermined number of driving cycles, the number of times the brake pedal is engaged is greater than a predetermined second number, then the user is determined to be suitable for the third control mode; wherein, the second number is greater than the first number; and,

[0033] When a user's driving habits in single-pedal mode are as follows: the rate of change of the accelerator pedal being pressed during start-up is greater than the predetermined rate of change of the fourth pedal; the rate of release of the accelerator pedal during deceleration is greater than the predetermined rate of change of the fifth pedal; and the number of times the brake pedal is engaged is less than the first number in a predetermined number of driving cycles, the user is determined to be suitable for the second control mode.

[0034] Preferably, the method further includes one or more of the following:

[0035] The rate of change of the second pedal is 5% / 0.4s;

[0036] The rate of change of the third pedal is 7% / 0.5s;

[0037] The rate of change of the fourth pedal is 5% / 0.3s;

[0038] The rate of change of the fifth pedal is 7% / 0.3s;

[0039] The predetermined number of driving cycles is: greater than or equal to 5 driving cycles;

[0040] The first number is 10; and,

[0041] The second number is 15.

[0042] On the other hand, an in-vehicle control device is also provided, including a memory and a processor, the memory storing at least one program, the at least one program being executed by the processor to implement the steps of any of the methods described above.

[0043] In another aspect, a computer program product is also provided, comprising a computer program, characterized in that, when the computer program is executed by a processor, it implements the steps of any of the methods described above.

[0044] On the other hand, a vehicle is also provided that uses any of the methods described above to provide a one-pedal mode.

[0045] The above technical solution has the following technical effects:

[0046] By pre-setting various one-pedal control modes in the vehicle, each mode corresponds to different driving habits. Based on the recognition of the user's driving habits, the system prompts or provides the corresponding one-pedal control mode to the user, thereby improving energy recovery efficiency while ensuring driving safety.

[0047] Furthermore, if a user's driving habits tend to favor using the brake pedal to slow down and stop, then such users are provided with a corresponding one-pedal control mode that does not require changing their driving habits, in order to avoid driving safety issues. Attached Figure Description

[0048] Figure 1 A flowchart illustrating a method for providing a one-pedal mode in a vehicle according to an embodiment of the present invention;

[0049] Figure 2 This is a schematic diagram of the control process under the first control mode used in an embodiment of the present invention;

[0050] Figure 3 This is a schematic diagram of the control process under the second control mode used in one embodiment of the present invention;

[0051] Figure 4 This is a schematic diagram of the control process under the third control mode used in one embodiment of the present invention. Detailed Implementation

[0052] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments and to explain the operating principles of the embodiments in conjunction with the relevant descriptions in the specification. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention. Components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0053] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0054] Example 1:

[0055] Figure 1This is a flowchart illustrating a method for providing a one-pedal driving mode in a vehicle according to an embodiment of the present invention. In this method, multiple one-pedal control modes are pre-set in the vehicle for the one-pedal driving mode; these multiple one-pedal control modes are respectively related to different driving habits, energy recovery methods, and efficiencies. Specifically, under different one-pedal control modes, the change in accelerator pedal opening degree has different correspondences with the change in vehicle torque; wherein the change in accelerator pedal opening degree includes: changes in opening size and / or opening change rate; the change in vehicle torque includes: the timing of torque positive / negative switching and / or torque change rate. In one specific implementation, the multiple one-pedal control modes are pre-set; and the correspondences are pre-determined, for example, through experimental means.

[0056] like Figure 1 The method for providing a one-pedal mode in a vehicle according to this embodiment includes:

[0057] Determine the user's driving habits in one-pedal mode. Driving habits include: during the start-up process, how quickly the accelerator pedal is pressed when the vehicle starts from a standstill; during the deceleration process, how quickly the accelerator pedal is released; and the number of times the brake pedal is engaged in a predetermined number of driving cycles.

[0058] In one specific implementation, the speed is measured by comparing the rate of change of pedal opening within a predetermined time with a predetermined rate of change of pedal opening; for example, when it is greater than or equal to the predetermined rate of change of pedal opening, it is determined to be fast; when it is less than the predetermined rate of change of pedal opening, it is determined to be slow; in another specific implementation, for different operating processes such as starting process, acceleration process and deceleration process, the speed is measured by pre-setting different rates of change of pedal opening.

[0059] Based on the pre-defined correspondence between user driving habits and suitable one-pedal control modes, the system selects the appropriate one-pedal control mode from a variety of options and provides prompts and / or recommendations to the user. In one specific implementation, the instrument panel prompts the user to select the appropriate one-pedal control mode; alternatively, a message pops up on the central control screen asking whether the system should automatically set the appropriate one-pedal control mode.

[0060] Example 2:

[0061] In this embodiment, three single-pedal control modes are preset: the first control mode, the second control mode, and the third control mode. Figure 2 The control process under the first control mode is shown; Figure 3 The control process under the second control mode is shown; Figure 4 The control process under the third control mode is shown. Figures 2 to 4 In the diagram, red represents the accelerator pedal opening (AccPdl), and black represents the vehicle torque (Torque). The horizontal axis is the time axis (T), and the vertical axes represent the torque magnitude and the accelerator pedal opening, respectively.

[0062] like Figure 2 The control process for the first control mode is as follows:

[0063] During the start-up process, the rate of change of the accelerator pedal being pressed is less than a predetermined first rate of change of the pedal. When the opening of the accelerator pedal is less than a preset first threshold, the torque is negative.

[0064] During acceleration, once the accelerator pedal opening exceeds a preset first threshold, the torque switches from negative to positive, and the first threshold is a positive number.

[0065] During deceleration, when the accelerator pedal is released, the torque decreases according to a predetermined first torque change rate, and when the opening of the accelerator pedal is reduced to less than a first threshold, the torque switches from positive torque to negative torque.

[0066] In summary, under this control mode: when the accelerator pedal is slowly depressed, the torque is negative, which is the energy recovery negative torque. When the accelerator pedal exceeds a certain value, the torque becomes positive, driving the vehicle. When the accelerator pedal is released, the torque gradually decreases, and when it decreases to a certain threshold, the torque becomes the energy recovery negative torque. Figure 2 As can be seen, acceleration and deceleration are smooth, the pedal travel is long, and energy recovery is low. Compared with the driving habit of using two pedals, the driving habit in this mode is almost unchanged. To a large extent, deceleration requires the intervention of the brake pedal to achieve the effect of slowing down and stopping.

[0067] like Figure 3 The control process for the second control mode is as follows:

[0068] During the start-up process, the rate of change of the accelerator pedal being pressed is less than the rate of change of the first pedal being pressed. When the opening of the accelerator pedal is less than the preset second threshold, the torque is negative.

[0069] During acceleration, when the accelerator pedal opening exceeds a preset second threshold, the torque switches from negative to positive. The second threshold is greater than the first threshold. Figure 2 and Figure 3 As shown in the diagram; the first threshold should be slightly greater than 0, and the second threshold should be much larger than the first threshold;

[0070] During deceleration, when the accelerator pedal is released, the torque decreases according to a predetermined second torque change rate, and when the opening of the accelerator pedal is reduced to a second threshold, the torque changes from positive to negative, and the second threshold is a positive number.

[0071] In summary, under this control mode: when the accelerator pedal is slowly depressed, the torque is negative, which is the energy recovery negative torque. When the accelerator pedal exceeds a certain value, the torque becomes positive, driving the vehicle. When the accelerator pedal is released, the torque gradually decreases, and when it decreases to a certain threshold, the torque becomes the energy recovery negative torque. Figure 3 As can be seen, about 1 / 3 of the accelerator pedal travel is the energy recovery torque travel, the acceleration response is slow, there is more electric braking regeneration, and the pedal travel is small throughout the acceleration process. Compared with the driving habit of using two pedals, the driver's driving habits are greatly changed in this mode, and the speed reduction and stopping effect can be basically achieved through pedal control.

[0072] like Figure 4 The control process for the third control mode is as follows:

[0073] During the start-up process, the rate of change of the accelerator pedal being pressed is less than the rate of change of the first pedal. When the opening of the accelerator pedal is less than a preset first threshold, the torque is negative.

[0074] During acceleration, when the accelerator pedal opening exceeds the first threshold, the torque switches from negative torque to positive torque.

[0075] During deceleration, when the accelerator pedal is released, the torque decreases according to a predetermined third torque change rate, which is greater than the first and second torque change rates. When the accelerator pedal opening decreases to a predetermined third threshold, the torque switches from positive to negative; the third threshold is greater than the first and second thresholds.

[0076] If an acceleration request occurs during deceleration, the torque switches to positive torque; specifically, an acceleration request is confirmed when the accelerator pedal opening increases.

[0077] In summary, under this control mode: when the accelerator pedal is slowly depressed, if the pedal opening is less than a predetermined first threshold, the torque is negative, representing energy recovery. Once the accelerator pedal exceeds a certain value, the torque becomes positive, driving the vehicle, resulting in a relatively timely acceleration torque response. When the accelerator pedal is released, the torque decreases rapidly, and upon reaching a third threshold, it becomes energy recovery negative torque. In this control mode, during pedal release, the pedal quickly reaches the zero torque threshold opening, and then remains at the energy recovery negative torque opening, resulting in a longer regenerative braking pedal travel, such as more than half the accelerator pedal travel. In this mode, if an acceleration request is detected during deceleration (i.e., if the accelerator pedal opening increases from the current opening), the torque immediately becomes positive driving torque. As shown in the diagram, in the third control mode, regenerative braking energy recovery is high, acceleration response is normal, but control is complex.

[0078] In one specific implementation, the relative magnitudes of the accelerator pedal opening change rate, torque change rate, and corresponding thresholds involved in the different control modes mentioned above are as follows: Figures 2 to 4 As shown in the figure.

[0079] In this embodiment, based on the above three single-pedal control modes, determining the appropriate single-pedal control mode according to the user's driving habits includes: judging the driver's driving habits from the process of vehicle static start, vehicle deceleration, and parking. For example, it mainly involves calculating and statistically analyzing the position and opening degree of the accelerator pedal and the rate of change of the opening degree, as well as the number of times the brake pedal intervenes in a predetermined number of driving cycles to analyze which single-pedal control mode is suitable for the user.

[0080] In one specific implementation:

[0081] When a user's driving habits in single-pedal mode are as follows: the rate of change of the accelerator pedal being pressed during start-up is less than the predetermined rate of change of the second pedal, the rate of release of the accelerator pedal during deceleration is less than the predetermined rate of change of the third pedal, and the number of times the brake pedal is engaged is greater than the predetermined first number in a predetermined number of driving cycles, the user is determined to be suitable for the first control mode.

[0082] When a user's driving habits in single-pedal mode are as follows: the rate of change of the accelerator pedal being pressed during start-up is less than the rate of change of the second pedal; the rate of change of the accelerator pedal being released during deceleration is less than the predetermined rate of change of the third pedal; and in a predetermined number of driving cycles, the number of times the brake pedal is engaged is greater than a predetermined second number, then the user is determined to be suitable for the third control mode; wherein, the second number is greater than the first number; and,

[0083] When a user's driving habits in single-pedal mode are as follows: the rate of change of the accelerator pedal being pressed during start-up is greater than the predetermined rate of change of the fourth pedal; the rate of release of the accelerator pedal during deceleration is greater than the predetermined rate of change of the fifth pedal; and the number of times the brake pedal is engaged is less than the first number in a predetermined number of driving cycles, the user is determined to be suitable for the second control mode.

[0084] In one specific implementation, the default single-pedal control mode in the vehicle is the first control mode. This mode does not change the driving habit of using two pedals. That is, even if the user is not used to the single-pedal mode, it is not easy to have safety problems caused by misoperation in this control mode.

[0085] The aforementioned pre-determined rates and pre-determined quantities are determined based on the specific vehicle model and actual application scenario.

[0086] In a specific implementation, determining the appropriate one-pedal control mode based on driving habits includes:

[0087] If, during operation, the starting pedal is pressed slowly (i.e., the pedal depth is greater than r1 and the time t1 is greater), and the pedal is released slowly during deceleration (i.e., the pedal depth is less than r2 and the time t2 is greater), and the number of times the brake pedal intervenes during the five driving cycles is less than n1 (10 times), then the default mode, i.e., the first control mode, is maintained.

[0088] If, during operation, the starting pedal is pressed slowly (i.e., pedal depth greater than r1 and time t1), and the deceleration pedal is released slowly (i.e., pedal depth less than r2 and time t2), and the number of brake pedal interventions is greater than n2 (15 times) over 5 driving cycles, then mode 3, i.e., the third control mode, is adopted, and the instrument panel prompts that the third control mode should be selected as the appropriate pedal mode.

[0089] If, during operation, the starting pedal is pressed down quickly (i.e., pedal depth greater than r1 but time t3), and the pedal is released quickly during deceleration (i.e., pedal depth less than r2 but time t4), and the number of brake pedal interventions during 5 driving cycles is less than n1 (e.g., 10 times), then the second control mode is selected, and the instrument panel will indicate that the second control mode is the appropriate pedal mode.

[0090] If the third control mode is currently selected, and the number of brake pedal interventions is still greater than n² (e.g., 15 times) over 5 driving cycles, then the pedal mode needs to be switched back to mode 1, i.e., the first control mode. Simultaneously, the instrument panel will indicate that the first control mode is the appropriate pedal mode. This step means that if the driver continues to frequently brake after selecting the third control mode, it indicates that the one-pedal driving mode is not suitable for the driver, and it is necessary to switch back to mode 1 or cancel the one-pedal mode.

[0091] Preferably, r1 = 5%; r2 = 7%; t1 = 0.4s; t2 = 0.5s; t3 = 0.3s; t4 = 0.3s.

[0092] The values ​​of the parameters mentioned above are merely illustrative. In other implementations, depending on the specific vehicle model, the values ​​of the parameters can be pre-calibrated to other appropriate values.

[0093] Embodiments of the present invention can be implemented as corresponding program products, such as software, installed in a vehicle for use by the user, i.e., the driver. One application scenario is as follows: when the user needs to select a one-pedal control mode, the software learns from the user's relevant driving data to obtain the user's driving habits and determines a one-pedal control mode adapted to those habits. In a specific implementation, after the learning process is complete, a message prompt can pop up on the central control screen after the vehicle is restarted, asking whether the pedal control mode should be automatically set to match the optimal driving range; if so, the previously set one-pedal control mode is automatically used; if the driver selects a different mode, the mode configuration data is refreshed, and the software defaults to the previously set one-pedal control mode upon the next power-on.

[0094] Example 3:

[0095] The present invention also provides an in-vehicle control device, including a memory and a processor, the memory storing at least one program, the at least one program being executed by the processor to implement the steps of any of the methods described above.

[0096] Example 4:

[0097] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the embodiments of the present invention.

[0098] If the modules / units integrated in the computer unit are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0099] Example 5:

[0100] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps described above.

[0101] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A method for providing a one-pedal mode in a vehicle, characterized in that, Multiple one-pedal control modes are pre-set in the vehicle for single-pedal driving. Under different one-pedal control modes, the change in accelerator pedal opening corresponds differently to changes in vehicle torque. The change in accelerator pedal opening includes: changes in the size of the opening and / or the rate of change; the change in vehicle torque includes: the timing of torque positive / negative switching and / or the rate of change. The method includes: Determine the user's driving habits in one-pedal mode, including: during the start-up process, the speed at which the accelerator pedal is pressed when the vehicle starts from a standstill; during the deceleration process, the speed at which the accelerator pedal is released; and the number of times the brake pedal is engaged in a predetermined number of driving cycles. Based on the pre-defined correspondence between user driving habits and suitable one-pedal control modes, the system selects a suitable one-pedal control mode from the various one-pedal control modes and provides prompts and / or recommendations to the user.

2. The method according to claim 1, characterized in that, The various single-pedal control modes include: In a single-pedal control mode where the brake pedal is engaged for combined braking during deceleration and stopping; and A single-pedal control mode that eliminates the need for the brake pedal to engage in combined braking when decelerating to a stop.

3. The method according to claim 1, characterized in that, The multiple single-pedal control modes include a first control mode, and the control process under the first control mode includes: During the start-up process, the rate of change of the accelerator pedal being pressed is less than a predetermined first rate of change of the pedal. When the opening of the accelerator pedal is less than a preset first threshold, the torque is negative. During acceleration, once the accelerator pedal opening exceeds the first threshold, the torque switches from negative to positive, where the first threshold is a positive number. During deceleration, when the accelerator pedal is released, the torque decreases according to a predetermined first torque change rate, and when the opening of the accelerator pedal is reduced to less than the first threshold, the torque switches from positive torque to negative torque.

4. The method according to claim 3, characterized in that, The multiple single-pedal control modes also include a second control mode and / or a third control mode, wherein: The control process in the second control mode includes: During the start-up process, the rate of change of the accelerator pedal being pressed is less than the rate of change of the first pedal being pressed. When the opening of the accelerator pedal is less than a preset second threshold, the torque is negative. During acceleration, when the accelerator pedal opening exceeds a preset second threshold, the torque switches from negative torque to positive torque, and the second threshold is greater than the first threshold. During deceleration, when the accelerator pedal is released, the torque decreases according to a predetermined second torque change rate, and when the opening of the accelerator pedal is reduced to less than the second threshold, the torque changes from positive torque to negative torque. The control process under the third control mode includes: During the start-up process, the rate of change of the accelerator pedal being pressed is less than the rate of change of the first pedal. When the opening of the accelerator pedal is less than a preset first threshold, the torque is negative. During acceleration, when the accelerator pedal opening exceeds the first threshold, the torque switches from negative torque to positive torque. During deceleration, when the accelerator pedal is released, the torque decreases according to a predetermined third torque change rate, which is greater than the first torque change rate and the second torque change rate. When the accelerator pedal opening decreases to a predetermined third threshold, the torque switches from positive torque to negative torque; the third threshold is greater than the first threshold and the second threshold. If an acceleration request occurs during deceleration, the torque switches to positive torque; specifically, an acceleration request is confirmed when the accelerator pedal opening increases.

5. The method according to claim 4, characterized in that, In the second control mode, the second threshold is set such that at least 1 / 3 of the accelerator pedal travel is a negative torque travel; and / or, In the third control mode, the third torque change rate and the third threshold are set such that at least half of the accelerator pedal travel is a negative torque travel.

6. The method according to claim 4, characterized in that: When a user's driving habits in single-pedal mode are as follows: the rate of change of the accelerator pedal being pressed during start-up is less than the predetermined rate of change of the second pedal; the rate of release of the accelerator pedal during deceleration is less than the predetermined rate of change of the third pedal; and the number of times the brake pedal is engaged is greater than the predetermined first number in a predetermined number of driving cycles, the user is determined to be suitable for the first control mode. When a user's driving habits in single-pedal mode are as follows: the rate of change of the accelerator pedal being pressed during start-up is less than the rate of change of the second pedal; the rate of release of the accelerator pedal during deceleration is less than the predetermined rate of change of the third pedal; and in a predetermined number of driving cycles, the number of times the brake pedal is engaged is greater than a predetermined second number, then the user is determined to be suitable for the third control mode; wherein, the second number is greater than the first number; and, When a user's driving habits in single-pedal mode are as follows: the rate of change of the accelerator pedal being pressed during start-up is greater than the predetermined rate of change of the fourth pedal; the rate of release of the accelerator pedal during deceleration is greater than the predetermined rate of change of the fifth pedal; and the number of times the brake pedal is engaged is less than the first number in a predetermined number of driving cycles, the user is determined to be suitable for the second control mode.

7. The method according to claim 6, characterized in that, It also includes one or more of the following: The rate of change of the second pedal is 5% / 0.4s; The rate of change of the third pedal is 7% / 0.5s; The rate of change of the fourth pedal is 5% / 0.3s; The rate of change of the fifth pedal is 7% / 0.3s; The predetermined number of driving cycles is: greater than or equal to 5 driving cycles; The first number is 10; and, The second number is 15.

8. An on-board control device, comprising a memory and a processor, the memory storing at least one program, the at least one program being executed by the processor to implement the steps of the method as claimed in any one of claims 1 to 7.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

10. A vehicle, characterized in that, The single-pedal mode is provided using the method as described in any one of claims 1 to 7.

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